Path Following for Unicycle Robots With an Arbitrary Path Curvature

@article{Morro2011PathFF,
  title={Path Following for Unicycle Robots With an Arbitrary Path Curvature},
  author={Angelo Morro and Antonio Sgorbissa and Renato Zaccaria},
  journal={IEEE Transactions on Robotics},
  year={2011},
  volume={27},
  pages={1016-1023}
}
A new feedback control model is provided that allows a wheeled vehicle to follow a prescribed path. Differently from all other methods in the literature, the method that is proposed neither requires the computation of a projection of the robot position on the path, nor does it need to consider a moving virtual target to be tracked. Nevertheless, it guarantees asymptotic convergence to a generic 2-D curve which can be represented through its implicit equation in the form f(x,y)=0, and it puts no… CONTINUE READING
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